Towards Multi-Sensor Equivariant Filter Design

This paper recaps the foundational building blocks for designing equivariant filters (EqFs) in robotic localization. Symmetries and group actions are outlined for key calibration states, enabling efficient multi-sensor fusion. The approach applies to UAVs equipped with common sensors like GNSS, magnetometers, and vision-based pose estimators. The effectiveness of a multi-sensor EqF is demonstrated through practical results.